CN107586707A - Manipulate manipulator, Hybridization Oven and manipulation robot work method - Google Patents

Abstract

The invention discloses one kind manipulation manipulator, Hybridization Oven and manipulation robot work method, the manipulation manipulator is provided with suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism and operating-controlling mechanism, suction nozzle operating mechanism includes vertical translation guide plate, suction nozzle handling pipe and suction nozzle and shirks baffle plate, for multiple suction nozzle handling pipes on vertical translation guide plate, the handling part of suction nozzle handling pipe is located at the lower section of vertical translation guide plate；Suction nozzle shirks the lower section that baffle plate is located at vertical translation guide plate, and the handling part of suction nozzle handling pipe shirks the perforation on baffle plate through suction nozzle；Operating-controlling mechanism includes the first vertical translation drive mechanism, air pressure control mechanism, the first vertical translation drive mechanism and suction nozzle operating mechanism drive connection, and suction nozzle handling pipe is connected by the first connecting tube with air pressure control mechanism.Present invention manipulation manipulator can apply to Hybridization Oven, and it has liquid feeding discharge opeing operating mechanism, and its is simple in construction, and automaticity is high, can reduce manual operation as far as possible, improves operating efficiency.

Description

Manipulate manipulator, Hybridization Oven and manipulation robot work method

Technical field

The present invention relates to manipulator technical field, and in particular to a kind of manipulation manipulator that can apply to Hybridization Oven, Using the Hybridization Oven and manipulation robot work method of the manipulation manipulator.

Background technology

Hybridization Oven, also known as：Hybridization Oven, molecule hybrid heater, it is widely used for the screening of clone gene, enzyme Cut the qualitative and quantitative analysis of specific gene sequence and the diagnosis of disease etc. in the making of collection of illustrative plates, genome.Hybridization Oven Not only have in biology field and widely apply, and the application in clinical diagnosis also increases increasingly.

Its general principle of Hybridization Oven is exactly the property of the denaturation and renaturation using nucleic acid molecules, makes source different DNA (or RNA) fragment, hybrid double-stranded molecule (heteroduplex) is formed by base complementrity relation, heteroduplex can be in DNA Between DNA, it can also be formed between RNA and DNA.

With the extensive use and popularization of Hybridization Oven, people to the requirement of Hybridization Oven also more and more higher, The most structure of manipulator of existing Hybridization Oven is complex, and function is simple, and automaticity is inadequate, in experiment, often Need artificially to carry out related operation, which reduce the operating efficiency of people, secondly, manipulator liquid feeding, the mechanism point of discharge opeing Open, add the structure member of manipulator, more occupy the space of Hybridization Oven.

The content of the invention

, should it is an object of the invention to provide one kind manipulation manipulator, Hybridization Oven and manipulation robot work method Manipulation manipulator can apply to Hybridization Oven, and it has liquid feeding discharge opeing operating mechanism, and its is simple in construction, powerful, automatically Change degree is high, can be reduced as far as artificial operation, improves operating efficiency.

Its technical scheme is as follows：

Hybridization Oven, including frame body, the frame body are provided with suction nozzle placement section, sample placement section, reaction Portion, manipulation manipulator and manipulator moving drive mechanism,

The suction nozzle placement section has multiple suction nozzle placed cavities；

The sample placement section has multiple sample placed cavities；

The reacting part has rotating cabin and reaction warehouse, and the rotating cabin is rotated and is arranged in frame body, the rotation Storehouse has placing chamber, and the reaction warehouse is located in placing chamber, and the reaction warehouse has reaction chamber；

The manipulation manipulator is provided with suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism and operating-controlling mechanism, the suction nozzle Operating mechanism, liquid feeding discharge opeing operating mechanism are connected with operating-controlling mechanism；

The manipulation manipulator has dress suction nozzle station, draws sample liquid station, injection sample liquid station and liquid feeding discharge opeing Station, the dress suction nozzle station are corresponding with suction nozzle placement section；The absorption sample liquid station is corresponding with sample placement section；Institute It is corresponding with reacting part to state injection sample liquid station, liquid feeding discharge opeing station；The manipulator moving drive mechanism and manipulation machinery Hand-drive connects, and driving manipulation manipulator is moved to each station.

Waste collection portion is additionally provided with the frame body, the waste collection portion has waste collection chamber；The manipulation Manipulator, which also has, unloads suction nozzle station, and described to unload suction nozzle station corresponding with waste collection portion.

The frame body is provided with installation recess, and rotary drive mechanism, the rotating cabin are provided with the frame body Two opposite sides outer end on be respectively equipped with rotary shaft, the rotating cabin is at the installation recess of frame body, the rotation The rotary shaft for turning drive mechanism and rotating cabin circumferentially connects.

The reaction warehouse includes multiple parallel arrangement of unit storehouses, and each unit storehouse has the independent reaction chamber, The reaction chamber is vertically arranged, and the top of the reaction warehouse is provided with multigroup elastic inlet and air pressure balance mouth, the note Entrance and air pressure balance mouth are in closed state, the inlet and air pressure of the corresponding one group of elasticity in each unit storehouse in its natural state Balance port.

The wherein side of the reaction warehouse is provided with counnter attack projection, and the wherein side of the rotation silo wall is provided with counnter attack Recess, the counnter attack are raised corresponding with counnter attack recess.

The reaction warehouse includes storehouse main body and Cang Gai, and the Cang Gai is covered in the main body of storehouse, and the storehouse main body has described Multiple parallel arrangement of unit storehouses, multigroup elastic inlet and air pressure balance mouth cover located at the storehouse.

The unit storehouse has the first sidepiece, the second sidepiece, and first sidepiece in each unit storehouse is located at the same side, Mei Gedan Second sidepiece in first storehouse is located at the same side；

The unit storehouse be divided into first module storehouse, second unit storehouse ..., the n-th unit storehouse, first module storehouse, second unit Storehouse is connected by the second sidepiece, and second unit storehouse, third unit storehouse are connected by the first sidepiece, third unit storehouse, Unit the 4th Storehouse is connected by the second sidepiece, the like.

First module storehouse, second unit storehouse opposite side portion on be respectively equipped with corresponding tearing part, the tearing part is close to One unit storehouse, first sidepiece in second unit storehouse are set, and the tearing part on first module storehouse, second unit storehouse is connected；

Second unit storehouse, third unit storehouse opposite side portion on be respectively equipped with corresponding tearing part, the tearing part is close to Two unit storehouses, second sidepiece in third unit storehouse are set, and the tearing part on second unit storehouse, third unit storehouse is connected；

Third unit storehouse, the 4th unit storehouse opposite side portion on be respectively equipped with corresponding tearing part, the tearing part is close to Three unit storehouses, first sidepiece in the 4th unit storehouse are set, and the tearing part on third unit storehouse, the 4th unit storehouse is connected；

The like.

At the upper end and lower end of each unit storehouse sidepiece, the tearing part being connected forms one towards institute for the tearing part State the tear recess outside reaction warehouse.

Dividing plate is provided with the unit storehouse, the reaction chamber in unit storehouse is divided into test paper placed cavity and liquid feeding discharge opeing by the dividing plate Chamber, the test paper placed cavity are connected with liquid feeding exhaust chamber.

The dividing plate includes first partition and second partition, and the first partition, second partition are respectively arranged on unit storehouse In two opposing lateral sides, and it is staggered.

Adherence convex portion is respectively equipped with the opposing sidewalls of the test paper placed cavity.

The raised adherence is the adherence raised line set along test paper placed cavity Sidewall Height direction；The test paper is placed Two adherence raised lines are distinguished in the opposing sidewalls of chamber.

The sidepiece in the unit storehouse at least two is observation sidepiece, and the observation sidepiece is transparent.

Manipulator is manipulated, the manipulation manipulator is provided with suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism and manipulation machine Structure, the suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism are connected with operating-controlling mechanism；

The suction nozzle operating mechanism includes vertical translation guide plate, suction nozzle handling pipe and suction nozzle and shirks baffle plate,

The suction nozzle handling pipe is multiple, and multiple suction nozzle handling pipes are on the vertical translation guide plate, the suction nozzle Handling pipe has handling part, and the handling part is located at the lower section of vertical translation guide plate；

The suction nozzle, which shirks, is correspondingly provided with multiple perforation on baffle plate, the suction nozzle shirks baffle plate and is located at vertical translation guide plate Lower section, the handling part of suction nozzle handling pipe shirks the perforation on baffle plate through suction nozzle；

The operating-controlling mechanism includes the first vertical translation drive mechanism, air pressure control mechanism,

First vertical translation drive mechanism and the suction nozzle operating mechanism drive connection, manipulate the suction nozzle operating mechanism and make Vertical translational motion；When unloading suction nozzle, the first vertical translation drive mechanism manipulation vertical translation guide plate takes off with respect to suction nozzle Unload baffle plate and do translational motion upwards；

The top of suction nozzle handling pipe is provided with the first connecting tube, the suction nozzle handling pipe pass through the first connecting tube with it is described Air pressure control mechanism connects.

The liquid feeding discharge opeing operating mechanism include lifting guide plate, liquid feeding discharging tube, barometric pipe, the first limiting plate and Second limiting plate,

The liquid feeding discharging tube, barometric pipe have multigroup；Multiple liquid feeding discharging tubes are on the lifting guide plate, institute State and multiple perforation are correspondingly provided with lifting guide plate, the corresponding perforation through on lifting guide plate of multiple barometric pipes；It is described First limiting plate is located at the top of barometric pipe, and second limiting plate is located at the bottom of barometric pipe, and air pressure balance Pipe is through second limiting plate；The lifting guide plate in the vertical direction be located at the first limiting plate and the second limiting plate it Between, first limiting plate, the difference in height of the second limiting plate are less than the height of the reaction chamber；

The operating-controlling mechanism includes the second vertical translation drive mechanism and liquid feeding discharge opeing controlling organization, and described second is vertical flat Move drive mechanism driving lifting guide plate and make elevating movement；The liquid feeding discharge opeing controlling organization is connected with liquid feeding discharging tube, manipulation Its liquid feeding discharge opeing；When the lifting guide plate makees elevating movement, first limiting plate or the second limiting plate are promoted, drives air pressure Balance pipe makees elevating movement.

The liquid feeding discharge opeing operating mechanism has multiple liquid feeding discharging tubes, and antidrip machine is additionally provided with the manipulation manipulator Structure,

The antidrip mechanism includes holding liquid seat, and multiple buffer volumes, the appearance liquid seat on pair are provided with the appearance liquid seat Multiple liquid injection ports and liquid outlet should be provided with, the liquid injection port, liquid outlet communicate with buffer volume；

Isocon is connected at each liquid injection port respectively, the other end of each isocon is connected on a header；Respectively go out liquid Woven hose is connected respectively at mouthful, and the other end of each woven hose connects each liquid feeding discharging tube respectively.

Each buffer volume is connected to conduction pipe, and the other end of the conduction pipe is extended at liquid outlet, and is led Flow tube road communicates with liquid outlet, and the bore of the conduction pipe is less than the bore of buffer volume.

The bore of the conduction pipe is the 1/4 to 1/3 of the bore of buffer volume.

The conduction pipe includes the first vertical portion, transverse part and the second vertical portion, and one end of first vertical portion connects Buffer volume is connect, the other end connects downwards one end of transverse part, and the other end of the transverse part connects the second upward vertical portion, The other end of second vertical portion is extended at the liquid outlet.

The size of each buffer volume is consistent.

The buffer volume is formed in one with conduction pipe.

Hybridization Oven, including frame body, the frame body are provided with manipulator moving drive mechanism and foregoing behaviour Manipulator is controlled, the manipulator moving drive mechanism is connected with manipulation robot drives.

Hybridization Oven application method, comprises the following steps,

Multiple suction nozzles are placed with suction nozzle placement section；Be placed with multiple sample cells at sample placement section, sample cell built with Sample liquid；Multiple test paper are placed with the reaction chamber of reaction warehouse；

Manipulator is manipulated under the driving of manipulator moving drive mechanism, dress suction nozzle station is moved to, draws sample liquid work Position, injection sample liquid station and liquid feeding discharge opeing station；

When manipulation manipulator is moved to dress suction nozzle station, operating-controlling mechanism manipulation suction nozzle operating mechanism enters the behaviour of luggage suction nozzle Make；

When manipulation manipulator is moved to absorption sample liquid station, operating-controlling mechanism manipulation suction nozzle operating mechanism carries out absorption sample The operation of liquid, now, suction nozzle operating mechanism are equipped with suction nozzle；

When manipulation manipulator is moved to injection sample liquid station, operating-controlling mechanism manipulation suction nozzle operating mechanism enters at reaction chamber The operation of row injection sample liquid, now, suction nozzle operating mechanism is equipped with suction nozzle, and absorption has sample liquid in suction nozzle；Or, operating-controlling mechanism Manipulation liquid feeding discharge opeing operating mechanism carries out the operation of liquid feeding discharge opeing at reaction chamber；

Rotating cabin rotates, and the appearance liquid in reaction chamber reacts under rotary state with test paper.

Robot work method is manipulated, is comprised the following steps,

First vertical translation drive mechanism driving suction nozzle operating mechanism makees vertical translational motion, the suction nozzle of suction nozzle operating mechanism Load and unload pipe dress suction nozzle；

First vertical translation drive mechanism driving suction nozzle operating mechanism makees vertical translational motion, and air pressure control mechanism control is inhaled Head operating mechanism draws sample liquid or injection sample liquid, and now, the suction nozzle handling pipe of suction nozzle operating mechanism is equipped with suction nozzle；

First vertical translation drive mechanism driving vertical translation guide plate shirks baffle plate with respect to suction nozzle and does translational motion upwards, Suction nozzle loaded on suction nozzle handling pipe unloads in the case where suction nozzle shirks the stop of baffle plate.

The manipulation robot work method, it is further comprising the steps of,

Second vertical translation drive mechanism driving lifting guide plate moves downward, and liquid feeding discharging tube enters reaction chamber, and second Limiting plate moves downward under the promotion of lifting guide plate, and the second limiting plate drives barometric pipe to move downward, air pressure balance Pipe enters reaction chamber；

Second vertical translation drive mechanism driving lifting guide plate moves upwards, and liquid feeding discharging tube moves until departing from upwards Go out reaction chamber, for the first limiting plate under the promotion of lifting guide plate, motion upwards, the first limiting plate drives barometric pipe upward Motion, until barometric pipe detaches reaction chamber；

The liquid feeding discharging tube of liquid feeding discharge opeing controlling organization manipulation liquid feeding discharge opeing controlling organization carries out liquid feeding or discharge opeing.

It should be noted that：

Foregoing " first, second " does not represent specific quantity and order, is only used for the differentiation to title.

Advantages of the present invention or principle are illustrated below：

1st, Hybridization Oven, frame body be provided with suction nozzle placement section, sample placement section, reacting part, manipulation manipulator and Manipulator moving drive mechanism, suction nozzle placement section have multiple suction nozzle placed cavities, and suction nozzle placed cavity is used for the placement of suction nozzle；Sample Placement section has multiple sample placed cavities, and sample placed cavity is used for the placement of sample；Reacting part has rotating cabin and reaction warehouse, rotation Roll-over is rotated and is arranged in frame body, and for reaction warehouse in the placing chamber of rotating cabin, reaction warehouse has reaction chamber, and reaction chamber is used In the addition of being put into of test paper, sample liquid and reaction solution；

Manipulation manipulator is provided with suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism and operating-controlling mechanism, suction nozzle operating mechanism, Liquid feeding discharge opeing operating mechanism is connected with operating-controlling mechanism；Manipulating manipulator has dress suction nozzle station, draws sample liquid station, injection sample This liquid station and liquid feeding discharge opeing station, dress suction nozzle station are corresponding with suction nozzle placement section；Sample liquid station is drawn to place with sample Portion is corresponding；It is corresponding with reacting part to inject sample liquid station, liquid feeding discharge opeing station；Manipulator moving drive mechanism and manipulation machine Tool hand-drive connects, and driving manipulation manipulator is moved to each station；

The Hybridization Oven when in use, is placed with multiple suction nozzles at suction nozzle placement section；It is placed with sample placement section more Individual sample cell, sample cell is built with sample liquid；Multiple test paper are placed with the reaction chamber of reaction warehouse；Manipulator is manipulated in manipulator Under the driving of moving drive mechanism, it is moved to dress suction nozzle station, draws sample liquid station, injection sample liquid station and liquid feeding discharge opeing Station；

When manipulation manipulator is moved to dress suction nozzle station, operating-controlling mechanism manipulation suction nozzle operating mechanism enters the behaviour of luggage suction nozzle Make；When manipulation manipulator is moved to absorption sample liquid station, operating-controlling mechanism manipulation suction nozzle operating mechanism carries out drawing sample liquid Operation, now, suction nozzle operating mechanism is equipped with suction nozzle；When manipulation manipulator is moved to injection sample liquid station, operating-controlling mechanism manipulation Suction nozzle operating mechanism carries out injecting the operation of sample liquid at reaction chamber, and now, suction nozzle operating mechanism is equipped with suction nozzle, and in suction nozzle Absorption has sample liquid；Or, operating-controlling mechanism manipulation liquid feeding discharge opeing operating mechanism carries out the operation of liquid feeding discharge opeing at reaction chamber；Rotation Storehouse rotates, and the appearance liquid in reaction chamber reacts under rotary state with test paper；

The Hybridization Oven is simple in construction, and reasonable in design, is provided with suction nozzle placement section, sample placement section, reaction Portion, manipulation manipulator and manipulator moving drive mechanism, take full advantage of the space of frame body, its small volume, can save Working space；The reacting part of the Hybridization Oven can carry out the experiment of more pattern detection, meet people to Hybridization Oven Demand with the detection of more experiment sample；Manipulating manipulator can be in dress suction nozzle station, absorption sample liquid station, injection sample liquid Station and liquid feeding discharge opeing station enter luggage suction nozzle, draw the operation of sample liquid, injection sample liquid and liquid feeding discharge opeing respectively, and its is automatic Change degree is high, can be that people save the operating time；Rotating cabin is rotated and is arranged in frame body, and reaction warehouse is located at the peace of rotating cabin Put in chamber, reaction warehouse has reaction chamber, and in experiment, rotating cabin rotates the Hybridization Oven, can improve experiment reaction rate, subtract Few reaction and experimental period, to improve the operating efficiency of people, are easy to the work of people, and can obtain more preferably experiment effect.

2nd, waste collection portion is additionally provided with frame body, waste collection portion has waste collection chamber, and manipulation manipulator also has Unload suction nozzle station, unload that suction nozzle station is corresponding with waste collection portion, waste collection chamber be used to collecting suction nozzle after use and Waste liquid, the effect of environmental protection can be played, is easy to the work of people, and preferably improve operating efficiency.

3rd, frame body is provided with installation recess, and rotary drive mechanism, the two opposite sides of rotating cabin are provided with frame body Outer end be provided with rotary shaft, rotating cabin is at the installation recess of frame body, the rotation of rotary drive mechanism and rotating cabin Rotating shaft circumferentially connects, and the setting of frame body installation recess can preferably embody the utilization to frame body space, and rotating cabin exists Under the driving of rotary drive mechanism, reciprocating rotation, it ensure that the Hybridization Oven can have more preferably experiment effect in experiment.

4th, reaction warehouse includes multiple parallel arrangement of unit storehouses, and each unit storehouse has independent reaction chamber, reaction chamber To be vertically arranged, the top of reaction warehouse is provided with multigroup elastic inlet and air pressure balance mouth, and inlet and air pressure balance mouth exist Closed state is under nature, the inlet and air pressure balance mouth of the corresponding one group of elasticity in each unit storehouse, reacts chamber structure Simply, the design of its structure has greatly reduced the lab space of the Hybridization Oven, and then causes the Hybridization Oven entirety body Product diminishes, and each unit storehouse has independent reaction chamber, and the reaction warehouse is easy to the observation of placement and the experiment of test paper, facilitates people Work, ensure that the experiment that each reaction chamber is carried out is not interfere with each other, ensure that the experiment effect of the Hybridization Oven, inlet And the setting of air pressure balance mouth can guarantee that the balance of reaction chamber air pressure, inlet and air pressure balance mouth are in its natural state in envelope Closed state, when ensure that reaction warehouse rotates, outflow or the spilling of intracavity liquid are reacted, ensure that the Hybridization Oven can be more preferable Tested and reacted.

5th, the wherein side of reaction warehouse is provided with counnter attack projection, and the wherein side for rotating silo wall is provided with counnter attack recess, Counnter attack is raised corresponding with counnter attack recess, and the installation of reaction warehouse is easy in the setting of counnter attack projection and counnter attack recess, avoids reaction warehouse There is anti-loaded situation, ensure that the efficiency of experiment.

6th, reaction warehouse includes storehouse main body and Cang Gai, Cang Gai are covered in the main body of storehouse, and storehouse main body has multiple parallel arrangement of Unit storehouse, multigroup elastic inlet and air pressure balance mouth cover located at storehouse, and storehouse main body and storehouse lid be separately positioned to be easy to test paper It is put into, and the operation of experiment.

7th, unit storehouse have the first sidepiece, the second sidepiece, unit storehouse be divided into first module storehouse, second unit storehouse ..., n-th Unit storehouse, first module storehouse, second unit storehouse are connected by the second sidepiece, and second unit storehouse, third unit storehouse pass through the first side Portion is connected, and third unit storehouse, the 4th unit storehouse are connected by the second sidepiece, the like, the attachment structure in unit storehouse is easy to reality Test the expansion in rear unit storehouse, can deploy in the attachment structure lower unit storehouse it is in a row, quite convenient for the observation after experiment.

8th, corresponding tearing part is respectively equipped with the opposite side portion in first module storehouse, second unit storehouse, the tearing part is close First module storehouse, first sidepiece in second unit storehouse are set, and the tearing part on first module storehouse, second unit storehouse is connected； Second unit storehouse, third unit storehouse opposite side portion on be respectively equipped with corresponding tearing part, the tearing part close to second unit storehouse, Second sidepiece in third unit storehouse is set, and the tearing part on second unit storehouse, third unit storehouse is connected；Third unit storehouse, Corresponding tearing part is respectively equipped with the opposite side portion in the 4th unit storehouse, the tearing part is close to third unit storehouse, the 4th unit storehouse The first sidepiece set, and the tearing part on third unit storehouse, the 4th unit storehouse is connected；The like；The setting of tearing part Ensure that reaction warehouse each unit storehouse can firmly parallel arranged, also allow for the separation between unit storehouse after experiment.

9th, at the upper end and lower end of each unit storehouse sidepiece, the tearing part being connected forms an orientating reaction for tearing part Tear recess outside storehouse, the set location of tearing part can save material, cost, be further ensured that unit storehouse consolidates parallel arranged Effect, tear the separation that the setting of recess can be more convenient for after experiment between unit storehouse.

10th, dividing plate is provided with unit storehouse, the reaction chamber in unit storehouse is divided into test paper placed cavity and liquid feeding exhaust chamber by dividing plate, examination Paper placed cavity is connected with liquid feeding exhaust chamber, and test paper has single placed cavity, can better ensure that the effect of experiment, improves real Test efficiency.

11st, dividing plate includes first partition and second partition, and it is two relative to be respectively arranged on unit storehouse for first partition, second partition On sidepiece, and it is staggered, first partition and second partition can effectively avoid test paper from entering liquid feeding exhaust chamber, and effectively protect Test paper placed cavity has been demonstrate,proved to be connected with liquid feeding exhaust chamber.

12nd, adherence convex portion is respectively equipped with the opposing sidewalls of test paper placed cavity, the setting of adherence convex portion is avoided that examination Paper is affixed in the side wall of placed cavity in experiment, eliminates the adherent influence to experimental result of test paper.

13rd, it is the adherence raised line set along test paper placed cavity Sidewall Height direction that adherence is raised；Test paper placed cavity Two adherence raised lines are distinguished in opposing sidewalls, the setting of adherence raised line can preferably prevent test paper to be affixed on the side of placed cavity Wall, to ensure the effect of adherence.

14th, the sidepiece in unit storehouse at least two is observation sidepiece, and observation sidepiece is transparent, is easy to people to pass through observation Sidepiece is observed experimental result.

15th, suction nozzle operating mechanism includes vertical translation guide plate, suction nozzle handling are managed and suction nozzle shirks baffle plate, multiple suction nozzles dresses Pipe is unloaded on vertical translation guide plate, suction nozzle handling pipe has handling part, and handling part is located at the lower section of vertical translation guide plate； Suction nozzle, which shirks, is correspondingly provided with multiple perforation on baffle plate, suction nozzle shirks the lower section that baffle plate is located at vertical translation guide plate, suction nozzle handling The perforation on baffle plate is shirked through suction nozzle in the handling part of pipe；

Operating-controlling mechanism include the first vertical translation drive mechanism, air pressure control mechanism, the first vertical translation drive mechanism with Suction nozzle operating mechanism drive connection, the top of suction nozzle handling pipe are provided with the first connecting tube, and suction nozzle handling pipe passes through the first connecting tube It is connected with air pressure control mechanism；

At work, the first vertical translation drive mechanism driving suction nozzle operating mechanism makees vertical translation fortune to the manipulation manipulator It is dynamic, the suction nozzle handling pipe dress suction nozzle of suction nozzle operating mechanism；First vertical translation drive mechanism driving suction nozzle operating mechanism is made vertical Translational motion, air pressure control mechanism control suction nozzle operating mechanism draw sample liquid or injection sample liquid, now, suction nozzle operating mechanism Suction nozzle handling pipe suction nozzle is housed；First vertical translation drive mechanism drive vertical translation guide plate with respect to suction nozzle shirk baffle plate to On do translational motion, loaded on suction nozzle handling pipe suction nozzle unloaded in the case where suction nozzle shirks the stop of baffle plate；

The manipulation robot manipulator structure is simple and reasonable in design, and its is powerful, can realize dress suction nozzle, draw sample Liquid, injection sample liquid and the operation for unloading suction nozzle, automaticity is high, can preferably save the operating time, be reduced as far as Artificial operation, improves operating efficiency.

16th, liquid feeding discharge opeing operating mechanism include lifting guide plate, liquid feeding discharging tube, barometric pipe, the first limiting plate and Second limiting plate, liquid feeding discharging tube, barometric pipe have multigroup；Multiple liquid feeding discharging tubes on lifting guide plate, lead by lifting Multiple perforation, the corresponding perforation through on lifting guide plate of multiple barometric pipes are correspondingly provided with to plate；First limiting plate is set In the top of barometric pipe, the second limiting plate is located at the bottom of barometric pipe, and barometric pipe passes through the second limiting plate； Guide plate in the vertical direction is lifted between the first limiting plate and the second limiting plate, the first limiting plate, the second limiting plate Difference in height is less than the height of reaction chamber；

Operating-controlling mechanism includes the second vertical translation drive mechanism and liquid feeding discharge opeing controlling organization, the second vertical translation driving machine Structure driving lifting guide plate makees elevating movement；Liquid feeding discharge opeing controlling organization is connected with liquid feeding discharging tube, manipulates its liquid feeding discharge opeing；

At work, the second vertical translation drive mechanism driving lifting guide plate moves downward the manipulation manipulator, liquid feeding Discharging tube enters reaction chamber, and the second limiting plate moves downward under the promotion of lifting guide plate, and the second limiting plate drives air pressure to put down Weighing apparatus pipe moves downward, and barometric pipe enters reaction chamber；Second vertical translation drive mechanism driving lifting guide plate moves upwards, Motion is until detach reaction chamber upwards for liquid feeding discharging tube, and the first limiting plate is under the promotion of lifting guide plate, motion upwards, the One limiting plate drives barometric pipe to move upwards, until barometric pipe detaches reaction chamber；Liquid feeding discharge opeing controlling organization is grasped The liquid feeding discharging tube for controlling liquid feeding discharge opeing controlling organization carries out liquid feeding or discharge opeing；

The manipulation manipulator mutually gathers liquid feeding with discharge opeing, simplifies the structure of existing manipulator so that the manipulation machine The structure of tool hand is more simple, and space-consuming diminishes, and the manipulation manipulator equilibrium air pressure, can be kept away in liquid feeding discharge opeing Exempt from the manipulation manipulator when carrying out liquid feeding discharge opeing, the situation of dropping liquid occur, and then influence experiment.

17th, liquid feeding discharge opeing operating mechanism has multiple liquid feeding discharging tubes, manipulates and is additionally provided with antidrip mechanism on manipulator, prevents Liquid dropping mechanism includes holding liquid seat, holds and multiple buffer volumes are provided with liquid seat, holds and is correspondingly provided with multiple liquid injection ports on liquid seat and goes out liquid Mouthful, liquid injection port, liquid outlet communicate with buffer volume；Isocon, the other end difference of each isocon are connected at each liquid injection port respectively It is connected on a header；Woven hose is connected at each liquid outlet respectively, the other end of each woven hose connects each liquid feeding discharge opeing respectively Pipe；

The antidrip mechanism structure is simple, and using effect is good, and it is provided with buffer volume, effectively prevent liquid and is entering The appearance of dropping liquid situation during row shunting, moreover it is possible to when liquid is shunted, effectively avoid because hydraulic pressure imbalance causes between isocon The appearance of backflow situation.

18th, each buffer volume is connected to conduction pipe, and the other end of conduction pipe is extended at liquid outlet, and water conservancy diversion Pipeline communicates with liquid outlet, and the bore of conduction pipe is less than the bore of buffer volume, and the setting of conduction pipe further ensures The using effect of the antidrip mechanism.

19th, the bore of conduction pipe is the 1/4 to 1/3 of the bore of buffer volume, and being arranged to for the conduction pipe bore is excellent Choosing, its bore is the 1/4 to 1/3 of the bore of buffer volume, and the antidrip mechanism has optimal using effect.

20th, conduction pipe includes the first vertical portion, transverse part and the second vertical portion, one end connection buffering of the first vertical portion Cavity volume, the other end connect downwards one end of transverse part, and the other end of transverse part connects the second upward vertical portion, the second vertical portion The other end extend at liquid outlet, the diversion mode of conduction pipe causes the antidrip mechanism to have more preferable using effect.

21st, the size of each buffer volume is consistent, can preferably ensure the effect of buffering.

22nd, buffer volume and conduction pipe are formed in one, and are easy to the processing for holding liquid seat, save production cost.

Brief description of the drawings

Fig. 1 is the dimensional structure diagram of Hybridization Oven of the embodiment of the present invention；

Fig. 2 is its internal overlooking the structure diagram of Hybridization Oven of the embodiment of the present invention；

Fig. 3 is the side structure schematic view of reacting part of the embodiment of the present invention；

Fig. 4 is the decomposition texture schematic diagram of reacting part of the embodiment of the present invention；

Fig. 5 is the overlooking the structure diagram of reacting part of the embodiment of the present invention；

Fig. 6 is the dimensional structure diagram of reaction warehouse of embodiment of the present invention storehouse main body；

Fig. 7 is the side structure schematic view of reaction warehouse of embodiment of the present invention storehouse main body；

Fig. 8 is the overlooking the structure diagram of reaction warehouse of embodiment of the present invention storehouse main body；

Structural representation when Fig. 9 is the main body expansion of reaction warehouse of embodiment of the present invention storehouse；

Figure 10 is the structural representation of manipulation manipulator of the embodiment of the present invention；

Figure 11 is liquid feeding discharge opeing operating mechanism of the embodiment of the present invention using one of schematic diagram；

Figure 12 is liquid feeding discharge opeing operating mechanism of the embodiment of the present invention using the two of schematic diagram；

Figure 13 is liquid feeding discharge opeing operating mechanism of the embodiment of the present invention using the three of schematic diagram；

Figure 14 is liquid feeding discharge opeing operating mechanism of the embodiment of the present invention using the four of schematic diagram；

Figure 15 is liquid feeding discharge opeing operating mechanism of the embodiment of the present invention using the five of schematic diagram；

Figure 16 is the schematic side view of its internal structure of antidrip of embodiment of the present invention mechanism；

Figure 17 is the schematic diagram of antidrip mechanism section structure of the embodiment of the present invention；

Description of reference numerals：

10th, frame body, 11, suction nozzle placement section, 12, sample placement section, 13, reacting part, 131, rotating cabin, 1311, peace Put chamber, 1312, rotary shaft, 1313, counnter attack recess, 132, reaction warehouse, 1321, storehouse main body, 1322, Cang Gai, 1323, unit storehouse, 1324th, inlet, 1325, air pressure balance mouth, 1326, counnter attack it is raised, 1327, tearing part, 1328, tear recess, 1329, test paper Placed cavity, 1330, liquid feeding exhaust chamber, 1331, adherence convex portion, 1332, observation sidepiece, 14, waste collection portion, 15, installation it is recessed Position, 20, manipulation manipulator, 21, suction nozzle operating mechanism, 211, vertical translation guide plate, 212, suction nozzle handling pipe, 213, suction nozzle takes off Unload baffle plate, 22, liquid feeding discharge opeing operating mechanism, 221, lifting guide plate, 222, liquid feeding discharging tube, 223, barometric pipe, 224, First limiting plate, the 225, second limiting plate, the 23, first vertical translation drive mechanism, the 24, second vertical translation drive mechanism, 25, Antidrip mechanism, 251, hold liquid seat, 252, buffer volume, 253, liquid injection port, 254, liquid outlet, 255, isocon, 256, afflux Pipe, 257, conduction pipe.

Embodiment

Embodiments of the invention are described in detail below.

As shown in Fig. 1 to Figure 17, Hybridization Oven, including frame body 10, frame body 10 are provided with suction nozzle placement section 11st, sample placement section 12, reacting part 13, waste collection portion 14, manipulation manipulator 20 and manipulator moving drive mechanism,

Suction nozzle placement section 11 has multiple suction nozzle placed cavities；Sample placement section 12 has multiple sample placed cavities；Reacting part 13 have rotating cabin 131 and reaction warehouse 132, and rotating cabin 131 is rotated and is arranged in frame body 10, and rotating cabin 131 has placement Chamber 1311, reaction warehouse 132 are located in placing chamber 1311, and reaction warehouse 132 has reaction chamber；Waste collection portion 14 has waste collection Chamber；

Manipulation manipulator 20 is provided with suction nozzle operating mechanism 21, liquid feeding discharge opeing operating mechanism 22 and operating-controlling mechanism, suction nozzle behaviour Make mechanism 21, liquid feeding discharge opeing operating mechanism 22 is connected with operating-controlling mechanism；

Manipulating manipulator 20 has dress suction nozzle station, draws sample liquid station, injection sample liquid station, liquid feeding discharge opeing station And suction nozzle station is unloaded, dress suction nozzle station is corresponding with suction nozzle placement section 11；It is relative with sample placement section 12 to draw sample liquid station Should；It is corresponding with reacting part 13 to inject sample liquid station, liquid feeding discharge opeing station；It is relative with waste collection portion 14 to unload suction nozzle station Should；Manipulator moving drive mechanism and the manipulation drive connection of manipulator 20, driving manipulation manipulator 20 are moved to each station.

Wherein, frame body 10 is provided with installation recess 15, and rotary drive mechanism, rotating cabin are provided with frame body 10 Rotary shaft 1312 is respectively equipped with the outer end of 131 two opposite sides, rotating cabin 131 is located at the installation recess 15 of frame body 10 Place, rotary drive mechanism are circumferentially connected with the rotary shaft 1312 of rotating cabin 131；

Reaction warehouse 132 includes multiple parallel arrangement of unit storehouses 1323, and each unit storehouse 1323 has independent reaction Chamber, reaction chamber are vertically arranged, and the top of reaction warehouse 132 is provided with multigroup elastic inlet 1324 and air pressure balance mouth 1325, Inlet 1324 and air pressure balance mouth 1325 are in closed state, the corresponding one group of elasticity in each unit storehouse 1323 in its natural state Inlet 1324 and air pressure balance mouth 1325；In the present embodiment, there are reaction warehouse 132 multiple reactions to divide storehouse, and reaction divides storehouse Include multiple parallel arrangement of unit storehouses 1323；

The wherein side of reaction warehouse 132 is provided with counnter attack projection 1326, and the wherein side of the bulkhead of rotating cabin 131, which is provided with, prevents Anti- recess 1313, counnter attack projection 1326 are corresponding with counnter attack recess 1313；

Reaction warehouse 132 includes storehouse main body 1321 and storehouse lid 1322, and storehouse lid 1322 is covered in storehouse main body 1321, storehouse main body 1321 have multiple parallel arrangement of unit storehouses 1323, and multigroup elastic inlet 1324 and air pressure balance mouth 1325 are located at Cang Gai On 1322；

Unit storehouse 1323 has the first sidepiece, the second sidepiece, and first sidepiece in each unit storehouse 1323 is located at the same side, often Second sidepiece in individual unit storehouse 1323 is located at the same side；Unit storehouse 1323 divide for first module storehouse, second unit storehouse ..., it is n-th single First storehouse, first module storehouse, second unit storehouse are connected by the second sidepiece, and second unit storehouse, third unit storehouse pass through the first sidepiece It is connected, third unit storehouse, the 4th unit storehouse are connected by the second sidepiece, the like；

First module storehouse, second unit storehouse opposite side portion on be respectively equipped with corresponding to tearing part 1327, the tearing part 1327 the first sidepiece close to first module storehouse, second unit storehouse is set, and the tearing part on first module storehouse, second unit storehouse 1327 are connected；

Second unit storehouse, third unit storehouse opposite side portion on be respectively equipped with corresponding to tearing part 1327, the tearing part 1327 the second sidepiece close to second unit storehouse, third unit storehouse is set, and the tearing part on second unit storehouse, third unit storehouse 1327 are connected；

Third unit storehouse, the 4th unit storehouse opposite side portion on be respectively equipped with corresponding to tearing part 1327, the tearing part 1327 the first sidepiece close to third unit storehouse, the 4th unit storehouse is set, and the tearing part on third unit storehouse, the 4th unit storehouse 1327 are connected；The like；

At the upper end and lower end of each sidepiece of unit storehouse 1323, the tearing part 1327 being connected is formed for tearing part 1327 Tear recess 1328 outside one orientating reaction storehouse 132；

Dividing plate is provided with unit storehouse 1323, the reaction chamber in unit storehouse 1323 is divided into test paper placed cavity 1329 and liquid feeding by dividing plate Exhaust chamber 1330, test paper placed cavity 1329 are connected with liquid feeding exhaust chamber 1330；In the present embodiment, dividing plate includes first partition And second partition, first partition, second partition are respectively arranged in the two opposing lateral sides in unit storehouse 1323, and are staggered；

Adherence convex portion 1331, in the present embodiment, adherence are respectively equipped with the opposing sidewalls of test paper placed cavity 1329 Projection is the adherence raised line set along the Sidewall Height direction of test paper placed cavity 1329, in the opposing sidewalls of test paper placed cavity 1329 Two adherence raised lines respectively；

The sidepiece in unit storehouse 1323 at least two is observation sidepiece 1332, and observation sidepiece 1332 is transparent；

Suction nozzle operating mechanism 21 includes vertical translation guide plate 211, suction nozzle handling pipe 212 and suction nozzle and shirks baffle plate 213,

Suction nozzle handling pipe 212 is multiple, and multiple suction nozzle handling pipes 212 are on vertical translation guide plate 211, suction nozzle handling Pipe 212 has handling part, and handling part is located at the lower section of vertical translation guide plate 211；Suction nozzle shirk be correspondingly provided with baffle plate 213 it is more Individual perforation, suction nozzle shirk the lower section that baffle plate 213 is located at vertical translation guide plate 211, and the handling part of suction nozzle handling pipe 212, which passes through, inhales Head shirks the perforation on baffle plate 213；

Operating-controlling mechanism includes the first vertical translation drive mechanism 23, air pressure control mechanism, the first vertical translation drive mechanism 23 make vertical translational motion with the drive connection of suction nozzle operating mechanism 21, manipulation suction nozzle operating mechanism 21；When unloading suction nozzle, first is perpendicular Baffle plate 213, which is shirked, to 211 relative suction nozzle of the manipulation vertical translation of translational drive mechanism 23 guide plate does translational motion upwards；Suction nozzle fills The top for unloading pipe 212 is provided with the first connecting tube, and suction nozzle handling pipe 212 is connected by the first connecting tube with air pressure control mechanism；

Liquid feeding discharge opeing operating mechanism 22 includes lifting guide plate 221, liquid feeding discharging tube 222, barometric pipe 223, first The limiting plate 225 of limiting plate 224 and second,

Liquid feeding discharging tube 222, barometric pipe 223 have multigroup；Multiple liquid feeding discharging tubes 222 are located at lifting guide plate 221 On, lift and multiple perforation are correspondingly provided with guide plate 221, multiple barometric pipes 223 are corresponded to through on lifting guide plate 221 Perforation；First limiting plate 224 is located at the top of barometric pipe 223, and the second limiting plate 225 is located under barometric pipe 223 Portion, and barometric pipe 223 passes through the second limiting plate 225；The lifting in the vertical direction of guide plate 221 is located at the first limiting plate 224 and second between limiting plate 225, and the first limiting plate 224, the difference in height of the second limiting plate 225 are less than the height of reaction chamber；

Operating-controlling mechanism includes the second vertical translation drive mechanism 24 and liquid feeding discharge opeing controlling organization, the driving of the second vertical translation The driving lifting guide plate 221 of mechanism 24 makees elevating movement；Liquid feeding discharge opeing controlling organization is connected with liquid feeding discharging tube 222, manipulates it Liquid feeding discharge opeing；When lifting guide plate 221 makees elevating movement, the first limiting plate 224 or the second limiting plate 225 are promoted, drives air pressure Balance pipe 223 makees elevating movement；

Liquid feeding discharge opeing operating mechanism 22 has multiple liquid feeding discharging tubes 222, manipulates and is additionally provided with antidrip machine on manipulator 20 Structure 25, antidrip mechanism 25 include holding liquid seat 251, hold and multiple buffer volumes 252 are provided with liquid seat 251, hold corresponding on liquid seat 251 Provided with multiple liquid injection ports 253 and liquid outlet 254, liquid injection port 253, liquid outlet 254 communicate with buffer volume 252；Each liquid injection port 253 Place connects isocon 255 respectively, and the other end of each isocon 255 is connected on a header 256；At each liquid outlet 254 Woven hose is connected respectively, and the other end of each woven hose connects each liquid feeding discharging tube 222 respectively；

Each buffer volume 252 is connected to conduction pipe 257, and the other end of conduction pipe 257 extends to liquid outlet 254 Place, and conduction pipe 257 communicates with liquid outlet 254, the bore of conduction pipe 257 is less than the bore of buffer volume 252；As excellent Choosing, the bore of conduction pipe 257 is the 1/4 to 1/3 of the bore of buffer volume 252, and the size of each buffer volume 252 is consistent, Buffer volume 252 is formed in one with conduction pipe 257；

Conduction pipe 257 includes the first vertical portion, transverse part and the second vertical portion, one end connection buffering of the first vertical portion Cavity volume 252, the other end connect downwards one end of transverse part, and the other end of transverse part connects the second upward vertical portion, and second is perpendicular The other end in straight portion is extended at liquid outlet 254.

Hybridization Oven application method, comprises the following steps,

Multiple suction nozzles are placed with suction nozzle placement section 11；Multiple sample cells are placed with sample placement section 12, in sample cell Equipped with sample liquid；Multiple test paper are placed with the reaction chamber of reaction warehouse 132；

Manipulator 20 is manipulated under the driving of manipulator moving drive mechanism, dress suction nozzle station is moved to, draws sample liquid Station, inject sample liquid station, liquid feeding discharge opeing station and unload suction nozzle station；

When manipulation manipulator 20 is moved to dress suction nozzle station, operating-controlling mechanism manipulation suction nozzle operating mechanism 21 enters luggage suction nozzle Operation；

When manipulation manipulator 20 is moved to absorption sample liquid station, operating-controlling mechanism manipulation suction nozzle operating mechanism 21 is drawn The operation of sample liquid, now, suction nozzle operating mechanism 21 are equipped with suction nozzle；

When manipulation manipulator 20 is moved to injection sample liquid station, operating-controlling mechanism manipulates suction nozzle operating mechanism 21 in reaction chamber Place inject the operation of sample liquid, and now, suction nozzle operating mechanism 21 is equipped with suction nozzle, and absorption has sample liquid in suction nozzle；Or, behaviour Control the operation that mechanism manipulation liquid feeding discharge opeing operating mechanism 22 carries out liquid feeding discharge opeing at reaction chamber；

Manipulation manipulator 20 is moved to when unloading suction nozzle station, and operating-controlling mechanism manipulation suction nozzle operating mechanism 21 carries out unloading suction nozzle Operation, now, suction nozzle operating mechanism 21 is equipped with suction nozzle；

Rotating cabin 131 rotates, and the appearance liquid in reaction chamber reacts under rotary state with test paper.

Robot work method is manipulated, is comprised the following steps,

First vertical translation drive mechanism 23 driving suction nozzle operating mechanism 21 makees vertical translational motion, suction nozzle operating mechanism 21 Suction nozzle handling pipe 212 fill suction nozzle；

First vertical translation drive mechanism 23 driving suction nozzle operating mechanism 21 makees vertical translational motion, air pressure control mechanism control Suction nozzle operating mechanism 21 processed draws sample liquid or injection sample liquid, and now, the suction nozzle handling pipe 212 of suction nozzle operating mechanism 21 is equipped with Suction nozzle；

First vertical translation drive mechanism 23 driving vertical translation guide plate, 211 relative suction nozzle shirks baffle plate 213 to be done upwards Translational motion, the suction nozzle loaded on suction nozzle handling pipe 212 unload in the case where suction nozzle shirks the stop of baffle plate 213.

Robot work method is manipulated, it is further comprising the steps of,

Second vertical translation drive mechanism 24 driving lifting guide plate 221 moves downward, and liquid feeding discharging tube 222 enters reaction Chamber, the second limiting plate 225 move downward under the promotion of lifting guide plate 221, and the second limiting plate 225 drives barometric pipe 223 move downward, and barometric pipe 223 enters reaction chamber；

Second vertical translation drive mechanism 24 driving lifting guide plate 221 moves upwards, and liquid feeding discharging tube 222 moves upwards Until detaching reaction chamber, the first limiting plate 224 is under the promotion of lifting guide plate 221, motion upwards, the first limiting plate 224 Barometric pipe 223 is driven to move upwards, until barometric pipe 223 detaches reaction chamber；

The liquid feeding discharging tube 222 of liquid feeding discharge opeing controlling organization manipulation liquid feeding discharge opeing controlling organization carries out liquid feeding or discharge opeing.

The advantages of the present embodiment：

1st, Hybridization Oven, frame body 10 are provided with suction nozzle placement section 11, sample placement section 12, reacting part 13, waste product Collection portion 14, manipulation manipulator 20 and manipulator moving drive mechanism, suction nozzle placement section 11 have multiple suction nozzle placed cavities, suction nozzle Placed cavity is used for the placement of suction nozzle；Sample placement section 12 has multiple sample placed cavities, and sample placed cavity is used for the placement of sample； Reacting part 13 has rotating cabin 131 and reaction warehouse 132, and rotating cabin 131 is rotated and is arranged in frame body 10, and reaction warehouse 132 is set In the placing chamber 1311 of rotating cabin 131, reaction warehouse 132 has a reaction chamber, and reaction chamber is used for being put into of test paper, sample liquid and anti- Answer the addition of liquid；Waste collection portion 14 has a waste collection chamber, and waste collection chamber is used to collecting the suction nozzle and waste liquid after use；

Manipulation manipulator 20 is provided with suction nozzle operating mechanism 21, liquid feeding discharge opeing operating mechanism 22 and operating-controlling mechanism, suction nozzle behaviour Make mechanism 21, liquid feeding discharge opeing operating mechanism 22 is connected with operating-controlling mechanism；Manipulating manipulator 20 has dress suction nozzle station, draws sample Liquid station, inject sample liquid station, liquid feeding discharge opeing station and unload suction nozzle station, dress suction nozzle station is relative with suction nozzle placement section 11 Should；It is corresponding with sample placement section 12 to draw sample liquid station；Inject sample liquid station, liquid feeding discharge opeing station and the phase of reacting part 13 It is corresponding；It is corresponding with waste collection portion 14 to unload suction nozzle station；Manipulator moving drive mechanism and the manipulation drive connection of manipulator 20, Driving manipulation manipulator 20 is moved to each station；

The Hybridization Oven when in use, is placed with multiple suction nozzles at suction nozzle placement section 11；Placed at sample placement section 12 There are multiple sample cells, sample cell is built with sample liquid；Multiple test paper are placed with the reaction chamber of reaction warehouse 132；Manipulate manipulator 20 under the driving of manipulator moving drive mechanism, is moved to dress suction nozzle station, draws sample liquid station, injection sample liquid work Position, liquid feeding discharge opeing station and unload suction nozzle station；

When manipulation manipulator 20 is moved to dress suction nozzle station, operating-controlling mechanism manipulation suction nozzle operating mechanism 21 enters luggage suction nozzle Operation；When manipulation manipulator 20 is moved to absorption sample liquid station, operating-controlling mechanism manipulation suction nozzle operating mechanism 21 carries out absorption sample The operation of this liquid, now, suction nozzle operating mechanism 21 are equipped with suction nozzle；When manipulation manipulator 20 is moved to injection sample liquid station, behaviour Control mechanism manipulation suction nozzle operating mechanism 21 carries out injecting the operation of sample liquid at reaction chamber, and now, suction nozzle operating mechanism 21 fills There is suction nozzle, and absorption has sample liquid in suction nozzle；Or, operating-controlling mechanism manipulation liquid feeding discharge opeing operating mechanism 22 is added at reaction chamber The operation of liquid discharge opeing；Manipulation manipulator 20 is moved to when unloading suction nozzle station, and operating-controlling mechanism manipulation suction nozzle operating mechanism 21 is unloaded The operation of suction nozzle, now, suction nozzle operating mechanism 21 are equipped with suction nozzle；Rotating cabin 131 rotates, and the appearance liquid in reaction chamber is in rotary state It is lower to be reacted with test paper；

The Hybridization Oven is simple in construction, and reasonable in design, be provided with suction nozzle placement section 11, sample placement section 12, Reacting part 13, waste collection portion 14, manipulation manipulator 20 and manipulator moving drive mechanism, take full advantage of frame body 10 Space, its small volume, working space can be saved；The reacting part 13 of the Hybridization Oven can carry out the reality of more pattern detection Test, meeting people has the demand of more experiment sample detection to Hybridization Oven；Manipulating manipulator 20 can be in dress suction nozzle work Position, draw sample liquid station, inject sample liquid station, liquid feeding discharge opeing station and unload suction nozzle station to enter luggage suction nozzle respectively, draw Sample liquid, injection sample liquid, liquid feeding discharge opeing and the operation for unloading suction nozzle, its automaticity is high, can be that people save the operating time； Rotating cabin 131 is rotated and is arranged in frame body 10, and reaction warehouse 132 is in the placing chamber 1311 of rotating cabin 131, reaction warehouse 132 have reaction chamber, and in experiment, rotating cabin 131 rotates the Hybridization Oven, can improve experiment reaction rate, reduce reaction And experimental period, to improve the operating efficiency of people, it is easy to the work of people, and more preferably experiment effect can be obtained.

2nd, frame body 10 is provided with installation recess 15, and rotary drive mechanism is provided with frame body 10, rotating cabin 131 The outer end of two opposite sides is provided with rotary shaft 1312, and rotating cabin 131 at the installation recess 15 of frame body 10, drive by rotation Motivation structure is circumferentially connected with the rotary shaft 1312 of rotating cabin 131, and the setting that frame body 10 installs recess 15 can preferably embody Utilization to the space of frame body 10, rotating cabin 131 is under the driving of rotary drive mechanism, reciprocating rotation, ensure that the molecule Hybridization instrument can have more preferably experiment effect in experiment.

3rd, reaction warehouse 132 includes multiple parallel arrangement of unit storehouses 1323, and each unit storehouse 1323 has independent anti- Chamber is answered, reaction chamber is vertically arranged, and the top of reaction warehouse 132 is provided with multigroup elastic inlet 1324 and air pressure balance mouth 1325, inlet 1324 and air pressure balance mouth 1325 are in closed state, each unit storehouse 1323 corresponding one in its natural state The inlet 1324 and air pressure balance mouth 1325 of group elasticity, reaction warehouse 132 is simple in construction, and the design of its structure has greatly reduced this The lab space of Hybridization Oven, and then the Hybridization Oven overall volume is diminished, each unit storehouse 1323 has independent Reaction chamber, the reaction warehouse 132 is easy to the observation of placement and the experiment of test paper, facilitates the work of people, ensure that each reaction The experiment that chamber is carried out is not interfere with each other, and ensure that the experiment effect of the Hybridization Oven, inlet 1324 and air pressure balance mouth 1325 Setting can guarantee that the balance of reaction chamber air pressure, inlet 1324 and air pressure balance mouth 1325 are in closed in its natural state State, when ensure that reaction warehouse 132 rotates, outflow or the spilling of intracavity liquid are reacted, ensure that the Hybridization Oven can be more preferable Tested and reacted.

4th, the wherein side of reaction warehouse 132 is provided with counnter attack projection 1326, and the wherein side of the bulkhead of rotating cabin 131 is provided with Counnter attack recess 1313, counnter attack projection is 1326 corresponding with counnter attack recess 1313, and counnter attack raised 1326 and counnter attack recess 1313 are set The installation for being easy to reaction warehouse 132 is put, avoids reaction warehouse 132 from anti-loaded situation occur, ensure that the efficiency of experiment.

5th, reaction warehouse 132 includes storehouse main body 1321 and storehouse lid 1322, and storehouse lid 1322 is covered in storehouse main body 1321, storehouse main body 1321 have multiple parallel arrangement of unit storehouses 1323, and multigroup elastic inlet 1324 and air pressure balance mouth 1325 are located at Cang Gai On 1322, storehouse main body 1321 and storehouse lid 1322 are separately positioned to be easy to being put into for test paper, and the operation of experiment.

6th, unit storehouse 1323 has the first sidepiece, the second sidepiece, and unit storehouse 1323 is divided for first module storehouse, second unit Storehouse ..., the n-th unit storehouse, first module storehouse, second unit storehouse be connected by the second sidepiece, and second unit storehouse, third unit storehouse lead to The first sidepiece to be crossed to be connected, third unit storehouse, the 4th unit storehouse are connected by the second sidepiece, the like, the company in unit storehouse 1323 Binding structure be easy to experiment after unit storehouse 1323 expansion, can deploy in the attachment structure lower unit storehouse 1323 it is in a row, very just Observation after experiment.

7th, tearing part 1327 corresponding to being respectively equipped with the opposite side portion in first module storehouse, second unit storehouse, the tearing part 1327 the first sidepiece close to first module storehouse, second unit storehouse is set, and the tearing part on first module storehouse, second unit storehouse 1327 are connected；Second unit storehouse, third unit storehouse opposite side portion on be respectively equipped with corresponding to tearing part 1327, the tearing part 1327 the second sidepiece close to second unit storehouse, third unit storehouse is set, and the tearing part on second unit storehouse, third unit storehouse 1327 are connected；Third unit storehouse, the 4th unit storehouse opposite side portion on be respectively equipped with corresponding to tearing part 1327, the tearing part 1327 the first sidepiece close to third unit storehouse, the 4th unit storehouse is set, and the tearing part on third unit storehouse, the 4th unit storehouse 1327 are connected；The like；The setting of tearing part 1327 ensure that each unit storehouse 1323 of reaction warehouse 132 firmly can arrange parallel Row, also allow for the separation between unit storehouse 1323 after testing.

8th, tearing part 1327 is located at the upper end and lower end of each sidepiece of unit storehouse 1323, the shape of tearing part 1327 being connected Tear recess 1328 into outside an orientating reaction storehouse 132, the set location of tearing part 1327 can save material, cost, enter one Step ensures that unit storehouse 1323 consolidates the effect of parallel arranged, and the setting of tear recess 1328 can be more convenient for unit storehouse 1323 after experiment Between separation.

9th, dividing plate is provided with unit storehouse 1323, the reaction chamber in unit storehouse 1323 is divided into test paper placed cavity 1329 and added by dividing plate Liquid exhaust chamber 1330, test paper placed cavity 1329 are connected with liquid feeding exhaust chamber 1330, and test paper has single placed cavity, can be more preferable Ground ensures the effect of experiment, improves conventional efficient；

Dividing plate includes first partition and second partition, and first partition, second partition are respectively arranged on the two-phase in unit storehouse 1323 On counter-lateral quadrents, and it is staggered, first partition and second partition can effectively avoid test paper from entering liquid feeding exhaust chamber 1330, and have Effect it ensure that test paper placed cavity 1329 is connected with liquid feeding exhaust chamber 1330.

10th, adherence convex portion 1331 is respectively equipped with the opposing sidewalls of test paper placed cavity 1329, adherence convex portion 1331 Setting is avoided that test paper is affixed in the side wall of placed cavity in experiment, eliminates the adherent influence to experimental result of test paper；

Raised adherence is the adherence raised line set along the Sidewall Height direction of test paper placed cavity 1329；Test paper placed cavity Two adherence raised lines are distinguished in 1329 opposing sidewalls, the setting of adherence raised line preferably can prevent test paper to be affixed on placed cavity Side wall, to ensure the effect of adherence.

11st, the sidepiece in unit storehouse 1323 at least two is observation sidepiece 1332, and observation sidepiece 1332 is transparent, is easy to People are observed experimental result by observing sidepiece 1332.

12nd, suction nozzle operating mechanism 21 includes vertical translation guide plate 211, suction nozzle loads and unloads pipe 212 and suction nozzle shirks baffle plate 213, for multiple suction nozzle handling pipes 212 on vertical translation guide plate 211, suction nozzle handling pipe 212 has handling part, loads and unloads position In the lower section of vertical translation guide plate 211；Suction nozzle, which shirks, is correspondingly provided with multiple perforation on baffle plate 213, suction nozzle shirks baffle plate 213 and set In the lower section of vertical translation guide plate 211, the handling part of suction nozzle handling pipe 212 shirks the perforation on baffle plate 213 through suction nozzle；

Operating-controlling mechanism includes the first vertical translation drive mechanism 23, air pressure control mechanism, the first vertical translation drive mechanism 23 are provided with the first connecting tube with the drive connection of suction nozzle operating mechanism 21, the top of suction nozzle handling pipe 212, and suction nozzle handling pipe 212 is logical The first connecting tube is crossed to be connected with air pressure control mechanism；

The manipulation manipulator 20 at work, make vertical by the first vertical translation drive mechanism 23 driving suction nozzle operating mechanism 21 Translational motion, the suction nozzle handling pipe 212 of suction nozzle operating mechanism 21 fill suction nozzle；First vertical translation drive mechanism 23 driving suction nozzle behaviour To make mechanism 21 and make vertical translational motion, air pressure control mechanism control suction nozzle operating mechanism 21 draws sample liquid or injection sample liquid, Now, the suction nozzle handling pipe 212 of suction nozzle operating mechanism 21 is equipped with suction nozzle；First vertical translation drive mechanism 23 drives vertical translation Guide plate 211 shirks baffle plate 213 with respect to suction nozzle and does translational motion upwards, and the suction nozzle loaded on suction nozzle handling pipe 212 shirks in suction nozzle Unloaded under the stop of baffle plate 213；

The manipulation manipulator 20 is simple in construction and reasonable in design, and its is powerful, can realize dress suction nozzle, draw sample This liquid, injection sample liquid and the operation for unloading suction nozzle, automaticity is high, can preferably save the operating time, be reduced as far as Artificial operation, improves operating efficiency.

13rd, liquid feeding discharge opeing operating mechanism 22 includes lifting guide plate 221, liquid feeding discharging tube 222, barometric pipe 223, the One limiting plate 224 and the second limiting plate 225, liquid feeding discharging tube 222, barometric pipe 223 have multigroup；Multiple liquid feeding discharging tubes 222 on lifting guide plate 221, lifts and is correspondingly provided with multiple perforation, multiple correspondences of barometric pipe 223 on guide plate 221 Perforation through on lifting guide plate 221；First limiting plate 224 is located at the top of barometric pipe 223, the second limiting plate 225 Located at the bottom of barometric pipe 223, and barometric pipe 223 passes through the second limiting plate 225；Guide plate 221 is lifted vertical On direction between the first limiting plate 224 and the second limiting plate 225, the first limiting plate 224, the height of the second limiting plate 225 Difference is less than the height of reaction chamber；

Operating-controlling mechanism includes the second vertical translation drive mechanism 24 and liquid feeding discharge opeing controlling organization, the driving of the second vertical translation The driving lifting guide plate 221 of mechanism 24 makees elevating movement；Liquid feeding discharge opeing controlling organization is connected with liquid feeding discharging tube 222, manipulates it Liquid feeding discharge opeing；

The manipulation manipulator 20 at work, transport downwards by the second vertical translation drive mechanism 24 driving lifting guide plate 221 Dynamic, liquid feeding discharging tube 222 enters reaction chamber, and the second limiting plate 225 moves downward, second under the promotion of lifting guide plate 221 Limiting plate 225 drives barometric pipe 223 to move downward, and barometric pipe 223 enters reaction chamber；Second vertical translation driving machine The driving lifting guide plate 221 of structure 24 moves upwards, until detaching reaction chamber, first is spacing for motion upwards for liquid feeding discharging tube 222 For plate 224 under the promotion of lifting guide plate 221, motion upwards, the first limiting plate 224 drives barometric pipe 223 to move upwards, Until barometric pipe 223 detaches reaction chamber；Liquid feeding discharge opeing controlling organization manipulates the liquid feeding discharge opeing of liquid feeding discharge opeing controlling organization Pipe 222 carries out liquid feeding or discharge opeing；

The manipulation manipulator 20 mutually gathers liquid feeding with discharge opeing, simplifies the structure of existing manipulator so that the manipulation The structure of manipulator 20 is more simple, and space-consuming diminishes, and the manipulation manipulator 20 can be in liquid feeding discharge opeing, Balance Air Pressure, avoids the manipulation manipulator 20 when carrying out liquid feeding discharge opeing, the situation of dropping liquid occurs, and then influence experiment.

14th, liquid feeding discharge opeing operating mechanism 22 has multiple liquid feeding discharging tubes 222, manipulates and is additionally provided with antidrip on manipulator 20 Mechanism 25, antidrip mechanism 25 include holding liquid seat 251, hold and multiple buffer volumes 252 are provided with liquid seat 251, and it is right on liquid seat 251 to hold Multiple liquid injection ports 253 and liquid outlet 254 should be provided with, liquid injection port 253, liquid outlet 254 communicate with buffer volume 252；Each liquid injection port Isocon 255 is connected at 253 respectively, the other end of each isocon 255 is connected on a header 256；Each liquid outlet 254 Place connects woven hose respectively, and the other end of each woven hose connects each liquid feeding discharging tube 222 respectively；

The antidrip mechanism 25 is simple in construction, and using effect is good, and it is provided with buffer volume 252, effectively prevent liquid The appearance of body dropping liquid situation when being shunted, moreover it is possible to when liquid is shunted, effectively avoid because hydraulic pressure imbalance causes point The appearance for the situation that flowed back between flow tube 255.

15th, each buffer volume 252 is connected to conduction pipe 257, and the other end of conduction pipe 257 extends to liquid outlet At 254, and conduction pipe 257 communicates with liquid outlet 254, and the bore of conduction pipe 257 is less than the bore of buffer volume 252, leads The setting in flow tube road 257 further ensure that the using effect of the antidrip mechanism 25；

The bore of conduction pipe 257 is the 1/4 to 1/3 of the bore of buffer volume 252, and the bore of conduction pipe 257 is set It is set to preferably, its bore is the 1/4 to 1/3 of the bore of buffer volume 252, and there is optimal use to imitate for the antidrip mechanism 25 Fruit；

The size of each buffer volume 252 is consistent, can preferably ensure the effect of buffering；

Buffer volume 252 is formed in one with conduction pipe 257, is easy to the processing for holding liquid seat 251, and saving is produced into This.

16th, conduction pipe 257 includes the first vertical portion, transverse part and the second vertical portion, one end connection of the first vertical portion Buffer volume 252, the other end connect downwards one end of transverse part, and the other end of transverse part connects the second upward vertical portion, the The other end of two vertical portions is extended at liquid outlet 254, and the diversion mode of conduction pipe 257 causes the antidrip mechanism 25 to have More preferable using effect.

The specific embodiment of the present invention is these are only, protection scope of the present invention is not limited with this；Do not violating this hair Any replacement made on the basis of bright design belongs to protection scope of the present invention with improving.

Claims (11)

1. manipulate manipulator, it is characterised in that the manipulation manipulator is provided with suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism And operating-controlling mechanism, the suction nozzle operating mechanism, liquid feeding discharge opeing operating mechanism are connected with operating-controlling mechanism；

The suction nozzle operating mechanism includes vertical translation guide plate, suction nozzle handling pipe and suction nozzle and shirks baffle plate,

The suction nozzle handling pipe is multiple, and multiple suction nozzle handling pipes are on the vertical translation guide plate, the suction nozzle handling Pipe has handling part, and the handling part is located at the lower section of vertical translation guide plate；

The suction nozzle, which shirks, is correspondingly provided with multiple perforation on baffle plate, the suction nozzle shirks baffle plate under vertical translation guide plate Side, the handling part of the suction nozzle handling pipe shirk the perforation on baffle plate through suction nozzle；

The operating-controlling mechanism includes the first vertical translation drive mechanism, air pressure control mechanism,

First vertical translation drive mechanism and the suction nozzle operating mechanism drive connection, manipulate the suction nozzle operating mechanism and make vertically Translational motion；When unloading suction nozzle, the first vertical translation drive mechanism manipulation vertical translation guide plate shirks gear with respect to suction nozzle Plate does translational motion upwards；

The top of the suction nozzle handling pipe is provided with the first connecting tube, and the suction nozzle handling pipe passes through the first connecting tube and the air pressure Controlling organization connects.

2. manipulation manipulator as claimed in claim 1, it is characterised in that the liquid feeding discharge opeing operating mechanism includes lifting and is oriented to Plate, liquid feeding discharging tube, barometric pipe, the first limiting plate and the second limiting plate,

The liquid feeding discharging tube, barometric pipe have multigroup；Multiple liquid feeding discharging tubes are on the lifting guide plate, the liter Multiple perforation, the corresponding perforation through on lifting guide plate of multiple barometric pipes are correspondingly provided with drop guide plate；Described first Limiting plate is located at the top of barometric pipe, and second limiting plate is located at the bottom of barometric pipe, and barometric pipe is worn Cross second limiting plate；The lifting guide plate in the vertical direction is between the first limiting plate and the second limiting plate, institute State the first limiting plate, the second limiting plate difference in height be less than the reaction chamber height；

The operating-controlling mechanism includes the second vertical translation drive mechanism and liquid feeding discharge opeing controlling organization, and second vertical translation drives Motivation structure driving lifting guide plate makees elevating movement；The liquid feeding discharge opeing controlling organization is connected with liquid feeding discharging tube, is manipulated it and is added Liquid discharge opeing；When the lifting guide plate makees elevating movement, first limiting plate or the second limiting plate are promoted, drives air pressure balance Pipe makees elevating movement.

3. manipulation manipulator as claimed in claim 1 or 2, it is characterised in that the liquid feeding discharge opeing operating mechanism has multiple add Liquid discharging tube, described manipulate are additionally provided with antidrip mechanism on manipulator,

The antidrip mechanism includes holding liquid seat, and multiple buffer volumes are provided with the appearance liquid seat, are correspondingly set on the appearance liquid seat There are multiple liquid injection ports and liquid outlet, the liquid injection port, liquid outlet communicate with buffer volume；

Isocon is connected at each liquid injection port respectively, the other end of each isocon is connected on a header；At each liquid outlet Woven hose is connected respectively, and the other end of each woven hose connects each liquid feeding discharging tube respectively.

4. manipulation manipulator as claimed in claim 3, it is characterised in that each buffer volume is connected to conduction pipe, described The other end of conduction pipe is extended at liquid outlet, and conduction pipe communicates with liquid outlet, and the bore of the conduction pipe is less than The bore of buffer volume.

5. manipulator is manipulated as claimed in claim 4, it is characterised in that the bore of the conduction pipe is the bore of buffer volume 1/4 to 1/3.

6. manipulation manipulator as claimed in claim 4, it is characterised in that the conduction pipe includes the first vertical portion, transverse part And second vertical portion, one end connection buffer volume of first vertical portion, the other end connects downwards one end of transverse part, described The second vertical portion of the other end connection of transverse part upwards, the other end of second vertical portion are extended at the liquid outlet.

7. manipulation manipulator as claimed in claim 3, it is characterised in that the size of each buffer volume is consistent.

8. manipulation manipulator as claimed in claim 4, it is characterised in that the buffer volume is formed in one with conduction pipe.

9. Hybridization Oven, it is characterised in that including frame body, the frame body is provided with manipulator moving drive mechanism And manipulator is manipulated described in any one of foregoing claim, the manipulator moving drive mechanism connects with manipulation robot drives Connect.

10. manipulate robot work method, it is characterised in that comprise the following steps,

First vertical translation drive mechanism driving suction nozzle operating mechanism makees vertical translational motion, the suction nozzle handling of suction nozzle operating mechanism Pipe fills suction nozzle；

First vertical translation drive mechanism driving suction nozzle operating mechanism makees vertical translational motion, air pressure control mechanism control suction nozzle behaviour Make mechanism and draw sample liquid or injection sample liquid, now, the suction nozzle handling pipe of suction nozzle operating mechanism is equipped with suction nozzle；

First vertical translation drive mechanism driving vertical translation guide plate shirks baffle plate with respect to suction nozzle and does translational motion upwards, is loaded on The suction nozzle of suction nozzle handling pipe unloads in the case where suction nozzle shirks the stop of baffle plate.

11. manipulation robot work method as claimed in claim 10, it is characterised in that it is further comprising the steps of,

Second vertical translation drive mechanism driving lifting guide plate moves downward, and liquid feeding discharging tube enters reaction chamber, and second is spacing Plate moves downward under the promotion of lifting guide plate, and the second limiting plate drives barometric pipe to move downward, and barometric pipe enters Enter reaction chamber；

Second vertical translation drive mechanism driving lifting guide plate moves upwards, and motion is anti-up to detaching upwards for liquid feeding discharging tube Chamber is answered, for the first limiting plate under the promotion of lifting guide plate, motion upwards, the first limiting plate drives barometric pipe to transport upwards It is dynamic, until barometric pipe detaches reaction chamber；

The liquid feeding discharging tube of liquid feeding discharge opeing controlling organization manipulation liquid feeding discharge opeing controlling organization carries out liquid feeding or discharge opeing.